High-Speed Optical Tracking with Compression And/Or CMOS Windowing

1. An optical tracking method, comprising: generating, by at least one optical sensor, sensor data in response to detection of at least one signal, wherein the at least one signal comprises detection of at least one feature; extracting a portion of the sensor data based on one or more of a plurality of windows, wherein the extracted portion of the sensor data corresponds to a partial image; compressing at least the extracted portion of the sensor data to generate a compressed image; determining at least one of a position or an orientation of the feature from the compressed image; and transmitting at least one of the position or the orientation of the feature through a communication channel to an application.

2. The optical tracking method of claim 1, further comprising: identifying the one or more of a plurality of windows based on a detection heuristic.

3. The optical tracking method of claim 2, further comprising: receiving input information from one or more external sensors, wherein the detection heuristic is based on input information.

4. The optical tracking method of claim 3, wherein at least one of the one or more external sensors is an inertial measurement unit.

5. The optical tracking method of claim 2, further comprising: generating the detection heuristic based on a tracked plurality of signal positions of a plurality of signals over a historical time period.

6. The optical tracking method of claim 1, further comprising: detecting the at least one signal by a scale-invariant feature transform.

7. The optical tracking method of claim 1, wherein the feature comprises one or more fiducials.

8. The optical tracking method of claim 1, wherein the partial image comprises partial sensor data sufficient for determining the at least one of the position or the orientation of the feature.

9. The optical tracking method of claim 1, further comprising: segmenting the compressed image; detecting a plurality of blobs in the segmented compressed image; determining a position of each of the plurality of blobs; and determining a three-dimensional pose of the feature based on the determined positions.

10. The optical tracking method of claim 1, wherein the at least one optical sensor is a plenoptic camera.

11. A device, comprising: an optical sensor configured to generate sensor data in response to detection of at least one signal, wherein the at least one signal comprises detection of at least one feature; a processor coupled to a memory storing instructions, wherein the processor is configured to execute the stored instructions to cause the device to: extract a portion of the sensor data based on one or more of a plurality of windows, wherein the extracted portion of the sensor data corresponds to a partial image; compress at least the extracted portion of the sensor data to generate a compressed image; determine at least one of a position or an orientation of the feature from the compressed image; and transmit at least one of the position or the orientation of the feature through a communication channel to an application.

12. The device of claim 11, wherein the stored instructions further cause the device to identify the one or more of a plurality of windows based on a detection heuristic.

13. The device of claim 12, wherein the stored instructions further cause the device to receive input information from one or more external sensors, wherein the detection heuristic is based on input information.

14. The device of claim 11, wherein the stored instructions further cause the device to generate the detection heuristic based on a tracked plurality of signal positions of a plurality of signals over a historical time period.

15. The device of claim 11, wherein the stored instructions further cause the device to detect the at least one signal by a scale-invariant feature transform.

16. The device of claim 11, wherein the feature comprises one or more fiducials.

17. The device of claim 11, wherein the partial image comprises partial sensor data sufficient for determining the at least one of the position or the orientation of the feature.

18. The device of claim 11, wherein the at least one optical sensor is a plenoptic camera.

19. The device of claim 11, wherein the at least one signal comprises a spectroscopic signal.

20. A surgical tracking system, comprising: an optical sensor configured to generate sensor data in response to detection of at least one signal, wherein the at least one signal comprises detection of at least one feature; a surgical instrument; and a processor coupled to a memory storing instructions, wherein the processor is configured to execute the stored instructions to cause the processor to: extract a portion of the sensor data based on one or more of a plurality of windows, wherein the extracted portion of the sensor data corresponds to a partial image; compress at least the extracted portion of the sensor data to generate a compressed image; determine at least one of a position or an orientation of the feature from the compressed image; and transmit at least one of the position or the orientation of the feature through a communication channel to an application.